import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
   config = os.path.join(
      os.getcwd(),
      'config',
      'ubt_trajectory_track',
      'control_params_t3000.yaml'
      )

   log_level = 'info'

   return LaunchDescription([
      Node(
         package='ubt_trajectory_track',
         executable='control_node',
         name='control_node',
         parameters=[config],
         ros_arguments=['--log-level', log_level]
      )
   ])